Localization for Multirobot Formations in Indoor Environment

Joint Adv. Res. Center, City Univ. of Hong Kong, Kowloon, China
IEEE/ASME Transactions on Mechatronics (Impact Factor: 3.14). 09/2010; DOI: 10.1109/TMECH.2009.2030584
Source: IEEE Xplore

ABSTRACT Localization is a key issue in multirobot formations, but it has not yet been sufficiently studied. In this paper, we propose a ceiling vision-based simultaneous localization and mapping (SLAM) methodology for solving the global localization problems in multirobot formations. First, an efficient data-association method is developed to achieve an optimistic feature match hypothesis quickly and accurately. Then, the relative poses among the robots are calculated utilizing a match-based approach, for local localization. To achieve the goal of global localization, three strategies are proposed. The first strategy is to globally localize one robot only (i.e., leader) and then localize the others based on relative poses among the robots. The second strategy is that each robot globally localizes itself by implementing SLAM individually. The third strategy is to utilize a common SLAM server, which may be installed on one of the robots, to globally localize all the robots simultaneously, based on a shared global map. Experiments are finally performed on a group of mobile robots to demonstrate the effectiveness of the proposed approaches.

  • [Show abstract] [Hide abstract]
    ABSTRACT: Maintaining the connectivity of an underlying robot network during a rendezvous task in the presence of obstacles is a challenge in control systems technology. In this brief, a navigation-function-based potential field approach is developed to address this challenging problem. A concept called connectivity constraint is used to establish a navigation function. A new potential field that simultaneously integrates rendezvous requirement, connectivity maintenance, and obstacle avoidance is also developed. On the basis of this potential field, we design a bounded control input for multirobot control. The proposed controller can drive multiple robots to an agreement state while maintaining connectivity of the underlying network provided that the initial configurations of the robots are connected. Simulations and experiments are performed to verify the effectiveness of the proposed approach.
    IEEE Transactions on Control Systems Technology 01/2013; 21(6):2306-2314. · 2.52 Impact Factor
  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper presents an efficient approach to achieve microparticles flocking with robotics and optical tweezers technologies. All particles trapped by optical tweezers can be automatically moved toward a predefined regionwithout collision. Themain contribution of this paper lies in the proposal of several solutions to the flocking manipulation ofmicroparticles inmicroenvironments. First, a simple flocking controller is proposed to generate the desired positions and velocities for particles movement. Second, a velocity saturation method is implemented to prevent the desired velocities from exceeding a safe limit. Third, a two-layer control architecture is proposed for the motion control of optical tweezers. This architecture can help make many robotic manipulations achievable under microenvironments. The proposed approachwith these solutions can be applied to many bioapplications especially in cell engineering and biomedicine. Experiments on yeast cells with a robot-tweezers system are finally performed to verify the effectiveness of the proposed approach.
    IEEE transactions on bio-medical engineering 02/2013; · 2.15 Impact Factor
  • [Show abstract] [Hide abstract]
    ABSTRACT: Indoor localization and monitoring system of robots and people are essential issues in robotics research. Several monitoring systems are currently under development by different investigators but they do encounter significant difficulties. For instance, a Pyroelectric Infrared (PIR) system provides less accurate information of human location and is restricted when there are multiple targets. Furthermore, a Radio Frequency (RF) localization system is constrained by its limited accuracy.
    Proceedings - IEEE International Conference on Robotics and Automation 01/2012;